#include <motion_prediction_visualizer.hpp>

Inheritance diagram for motion_prediction_visualizer::Node:

Collaboration diagram for motion_prediction_visualizer::Node:

Public Member Functions
	Node (const rclcpp::NodeOptions &)
	Node constructor. More...

void	external_object_callback (const carma_perception_msgs::msg::ExternalObjectList::UniquePtr msg)

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)

Private Attributes
carma_ros2_utils::SubPtr< carma_perception_msgs::msg::ExternalObjectList >	external_object_sub_

carma_ros2_utils::PubPtr< geometry_msgs::msg::PoseArray >	pose_array_pub_

Detailed Description

Definition at line 31 of file motion_prediction_visualizer.hpp.

Constructor & Destructor Documentation

◆ Node()

motion_prediction_visualizer::Node::Node ( const rclcpp::NodeOptions & options )

explicit

Node constructor.

Definition at line 25 of file motion_prediction_visualizer_node.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options)
    {
        
    }

Member Function Documentation

◆ external_object_callback()

void motion_prediction_visualizer::Node::external_object_callback ( const carma_perception_msgs::msg::ExternalObjectList::UniquePtr msg )

Definition at line 31 of file motion_prediction_visualizer_node.cpp.

    {
        geometry_msgs::msg::PoseArray posearray;
        posearray.header.stamp = this->now();
        posearray.header.frame_id = "map";
 
        for (auto& obj : msg->objects){
            for (auto& p : obj.predictions) {
                posearray.poses.push_back(p.predicted_position);
            }
        }
 
        pose_array_pub_->publish(posearray);
    }

References pose_array_pub_.

Referenced by handle_on_configure().

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◆ handle_on_configure()

carma_ros2_utils::CallbackReturn motion_prediction_visualizer::Node::handle_on_configure ( const rclcpp_lifecycle::State & )

Definition at line 46 of file motion_prediction_visualizer_node.cpp.

    {
        // Setup subscribers
        external_object_sub_ = create_subscription<carma_perception_msgs::msg::ExternalObjectList>("external_objects", 1000,
                                                              std::bind(&Node::external_object_callback, this, std_ph::_1));
 
        // Setup publishers
        pose_array_pub_ = create_publisher<geometry_msgs::msg::PoseArray>("motion_computation_visualize", 1);
 
        // Return success if everthing initialized successfully
        return CallbackReturn::SUCCESS;
 
    }